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http://en.wikipedia.org/wiki/Roger_de_Beaumont

Roger de Beaumont-le-Roger (c. 1015 – 29 November 1094) was son of Humphrey de Vielles (himself a great-nephew of the Duchess Gunnora of Normandy) and his wife Albreda de la Haye Auberie. Roger de Beaumont, Lord of Beaumont-le-Roger and Pont-Audemer, Viscount of Hiesmes, was thus a second cousin once removed of the Conqueror.